create a function to get parameter names in humble, handel no response

ipa320 · Feb 15, 2024 · b8c20c1 · b8c20c1
1 parent 33b2f75
commit b8c20c1
Showing 1 changed file with 46 additions and 30 deletions.
diff --git a/ros2model/api/runtime_parser/rosmodel_runtime_parser.py b/ros2model/api/runtime_parser/rosmodel_runtime_parser.py
@@ -257,23 +257,7 @@ def get_parameters(self, node, include_hidden_nodes=False):
 
         sorted_names = []
         if version_str == "humble":
-            from rcl_interfaces.srv import ListParameters
-            from ros2service.api import get_service_names
-
-            service_names = get_service_names(
-                node=node, include_hidden_services=include_hidden_nodes
-            )
-            service_name = f"{self.name.full_name}/list_parameters"
-
-            if service_name in service_names:
-                client = node.create_client(ListParameters, service_name)
-                if client.service_is_ready():
-                    request = ListParameters.Request()
-                    future = client.call_async(request)
-                    rclpy.spin_until_future_complete(node, future, timeout_sec=1.0)
-                    if future.result() != None:
-                        response = future.result()
-                        sorted_names = sorted(response.result.names)
+            sorted_names = self.get_parameter_names_humble(node, include_hidden_nodes)
 
         if version_str == "rolling":
             response = call_list_parameters(node=node, node_name=self.name.full_name)
@@ -282,20 +266,52 @@ def get_parameters(self, node, include_hidden_nodes=False):
                 sorted_names = sorted(param_names)
 
         regex_filter = re.compile(ParameterReg)
-        sorted_names = [name for name in sorted_names if not regex_filter.match(name)]
-        des_resp = call_describe_parameters(
-            node=node,
-            node_name=self.name.full_name,
-            parameter_names=sorted_names,
-        )
-        for descriptor in des_resp.descriptors:
-            self.parameter.append(
-                ROSModel.Parameter(
-                    name=descriptor.name,
-                    namespace=self.name.namespace,
-                    type=get_parameter_type_string(descriptor.type),
-                )
+        if len(sorted_names) != 0:
+            sorted_names = [
+                name for name in sorted_names if not regex_filter.match(name)
+            ]
+            des_resp = call_describe_parameters(
+                node=node,
+                node_name=self.name.full_name,
+                parameter_names=sorted_names,
             )
+            for descriptor in des_resp.descriptors:
+                self.parameter.append(
+                    ROSModel.Parameter(
+                        name=descriptor.name,
+                        namespace=self.name.namespace,
+                        type=get_parameter_type_string(descriptor.type),
+                    )
+                )
+
+    def get_parameter_names_humble(self, node, include_hidden_nodes=False):
+        from rcl_interfaces.srv import ListParameters
+        from ros2service.api import get_service_names
+
+        sorted_names = []
+        service_names = get_service_names(
+            node=node, include_hidden_services=include_hidden_nodes
+        )
+        service_name = f"{self.name.full_name}/list_parameters"
+
+        if service_name in service_names:
+            client = node.create_client(ListParameters, service_name)
+            if client.service_is_ready():
+                request = ListParameters.Request()
+                future = client.call_async(request)
+                rclpy.spin_until_future_complete(node, future, timeout_sec=1.0)
+                if future.result() != None:
+                    response = future.result()
+                    if response is None:
+                        try:
+                            e = future.exception()
+                        except:
+                            error = RuntimeError(
+                                f"Exception while calling service of node '{self.name.full_name}': {e}"
+                            )
+                    else:
+                        sorted_names = sorted(response.result.names)
+        return sorted_names
 
 
 def get_node_graph_names():